EP0642458A1 - Storage container with a gripping zone for a handling device. - Google Patents
Storage container with a gripping zone for a handling device.Info
- Publication number
- EP0642458A1 EP0642458A1 EP93909790A EP93909790A EP0642458A1 EP 0642458 A1 EP0642458 A1 EP 0642458A1 EP 93909790 A EP93909790 A EP 93909790A EP 93909790 A EP93909790 A EP 93909790A EP 0642458 A1 EP0642458 A1 EP 0642458A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- storage container
- bolt
- notches
- designed
- engagement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
Definitions
- so-called storage and retrieval machines are used as handling devices, which can move to any shelf compartment and which have a gripping and actuating mechanism with which the storage containers can be pushed into or pulled out of the respective shelf compartment.
- the gripping device for the storage containers consists of plates which are pressed together in a complex manner and thereby grip the storage containers laterally.
- an obliquely received container is also placed again at an angle, so that tolerances can be added during the implementation.
- each storage container has an open slot guide for a driver on both sides of its end face facing the storage and retrieval device protrudes an endless entraining link, which is guided around deflection wheels, the distance from one another is at least as long as the insertion depth of the storage container into the compartments of the shelf.
- the transverse axis can cause one or both drivers to jump out of the slot guide.
- the object of the invention is therefore to design a storage container so that it can be safely handled by a specially designed end member of a gripping mechanism.
- a storage container with a gripping area for a handling device designed for pulling and pushing the storage container the gripping area being attached to at least one end face of the storage container and having a notch on both sides, the notches being designed in this way are that a bolt of a gripper mechanism of the handling device can be positively and / or positively engaged. This ensures that the storage container can also be handled in a tilt-stabilized manner with respect to its transverse and longitudinal axes.
- the interaction of the notches with a correspondingly designed bolt can further improve the handling of the storage container.
- the shape of the bolt can be chosen so that it already engages with the notches at its point of engagement, so that a torque about one or more axes is compensated for by the frictional engagement.
- the positive engagement with respect to a tilting movement of the storage container about its transverse and / or longitudinal axis can thereby are produced in such a way that the bolt has a thickening at least at one end and the width of the notch at the point of engagement of the bolt is narrower than the thickening thereof.
- the indentation occurs when the storage container is tilted, if necessary after overcoming an intended play predetermined by the bolt dimensions, on the thickening in positive engagement with the bolt, so that a white ⁇ ter tilting is prevented.
- the bolt is frustoconical in the lower part and cylindrical in the upper part, the truncated cone tapering towards the cylindrical part, so that a tilting Movement of the storage container downwards by preventing the truncated cone.
- the safe handling of a storage container can be further improved in that the notches are designed in such a way that a bolt tapered towards the center can be brought into engagement.
- a double-conical bolt is particularly simple and economical, but other designs are also possible, for example a bolt tapering in a curve toward the center. This ensures that the notches cannot slide off the bolt either upwards or downwards.
- the notch is automatically brought to the center of the bolt when the bolt first engages with a thicker end. A horizontal alignment of the storage container is thereby achieved.
- the notches are advantageously V-shaped, and the pointed end of the notch can also be rounded.
- a simple advantageous embodiment of the bolt consists in that the bolt has at its upper end a protruding end part which, in a particularly simple embodiment, is plate-shaped, for example in the form of a hammer head or as an additional plate.
- a further advantageous embodiment of the invention consists in that the notches are arranged in a horizontal position on the upper edge of the end face of the storage container. right plate are introduced. On the one hand, this results in a free space in relation to the base area of the storage container, ie the base area of the storage container is not enlarged by the plate, so that there are no additional disadvantages due to an enlarged base area (such disadvantages would be a risk of jamming, for example) on conveyor belts, an enlarged area for weighing devices to be provided, etc.).
- the plate can also be used as an easy-to-grip handle when the storage container has to be moved by hand.
- the horizontal plate Since the storage containers are usually placed on a conveyor system before or after operation by the handling device, where it can happen that one storage container bumps against the next, it is advantageous if the horizontal plate has an abutting edge at its end facing away from the storage container which prevents the storage containers from sliding over one another with their plates and thus causing malfunctions in the conveying process.
- edges of the notches can also be rounded, so that the horizontal alignment of a storage container which is slightly tilted about its longitudinal axis is facilitated when the bolts engage.
- FIG. 6 shows a gripper mechanism of a storage and retrieval machine.
- FIG. 1 shows a three-dimensional representation of a storage container L with its longitudinal axis X, its transverse axis Y and its vertical axis Z.
- the storage container serves to hold any piece goods.
- a horizontal plate P is attached to both end faces S of the storage container L, on the two sides of which V-shaped notches E are provided, which are rounded toward the tip.
- the edges of the notches E and the outer edges R of the horizontal plates P are flanged or angled. The edges of the notches can also be rounded, for example.
- the bordering or rounding of the edges of the notches serves the purpose, on the one hand, of ensuring that the edges remain dimensionally stable and cannot be easily damaged in the event of multiple gripping and, on the other hand, the positive and / or non-positive engagement with the engaging bolt is increased.
- the flanges or the abutting edges R at the ends of the plates P are intended to prevent the storage containers L from overlapping with their plates when a plurality of storage containers L are pushed against one another.
- the double-conical bolt B is the end member of a gripping mechanism which is shown schematically in FIG. It is mounted on a movable support A and engages in the notch E. of the storage container L, only the left part of the front view of the storage container L being shown.
- the size of the double cone B is such that it can still engage securely in the notches E when the storage container is rotated by a still permissible amount about its transverse axis Y or its longitudinal axis X.
- the double-conical design ensures that in the worst case a further tilting of the storage container is excluded and in the desired normal case the notches E can slide to the thinnest point of the bolt and the storage container is thus optimally aligned again.
- FIG. 3 is frustoconical in its lower end, so that movement of the notch downwards is prevented.
- the bolt according to FIG. 4 has a plate-shaped design in the form of a hammer head at its upper end. Instead of forming a hammer head, an additional plate can also be provided.
- the bolt according to FIG. 5 has a spherical thickening at its upper end.
- a rigid gripping mechanism as shown schematically in FIG. 6 is used.
- Two gripper arms A guided on rails are opened and closed by means of an adjustable sliding block K, the gripping arms A including the sliding block K being movable on a table of the storage and retrieval unit, not shown, so that the storage container after engagement of the bolts B attached to the gripping arms A in pulled the notch E of the storage container L onto the storage and retrieval machine or from this can be pushed.
- the notches E are shown enlarged in relation to the bolts B in the illustration, so that the rounded design of the notches is more apparent in this case.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE9207669U | 1992-06-05 | ||
DE9207669U DE9207669U1 (en) | 1992-06-05 | 1992-06-05 | Storage container with a gripping area for a handling device |
PCT/DE1993/000452 WO1993025458A1 (en) | 1992-06-05 | 1993-05-24 | Storage container with a gripping zone for a handling device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0642458A1 true EP0642458A1 (en) | 1995-03-15 |
EP0642458B1 EP0642458B1 (en) | 1996-01-03 |
Family
ID=6880301
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP93909790A Expired - Lifetime EP0642458B1 (en) | 1992-06-05 | 1993-05-24 | Storage container with a gripping zone for a handling device |
Country Status (5)
Country | Link |
---|---|
US (1) | US5564880A (en) |
EP (1) | EP0642458B1 (en) |
JP (1) | JPH07503443A (en) |
DE (2) | DE9207669U1 (en) |
WO (1) | WO1993025458A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3799892A1 (en) | 2016-10-28 | 2021-04-07 | Dialybrid S.r.l. | Hybrid scaffold suitable for regenerating animal tissues and process for producing the scaffold |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2069491B1 (en) * | 1993-07-07 | 1998-06-01 | Univ Catalunya Politecnica | PAIR OF HANDLES ADJUSTABLE TO BOXES FOR AUTOMATIC STORAGE IN DEPTH. |
US5551823A (en) * | 1993-08-20 | 1996-09-03 | Tsubakimoto Chain Co. | Transfer apparatus having traction pin moved with height difference |
US5927926A (en) * | 1996-10-21 | 1999-07-27 | Itoki Crebio Corporation | Carriage for storage-retrieval system with locking-engaging members |
DE19805420C2 (en) * | 1998-02-11 | 2000-02-17 | Heinz Rathmer | Presentation facility |
DE10154787A1 (en) * | 2001-11-08 | 2003-05-28 | Krusche Lagertechnik Ag | System for operating storage units |
US9321591B2 (en) | 2009-04-10 | 2016-04-26 | Symbotic, LLC | Autonomous transports for storage and retrieval systems |
TWI525025B (en) | 2009-04-10 | 2016-03-11 | 辛波提克有限責任公司 | Storage and retrieval system |
US8696010B2 (en) | 2010-12-15 | 2014-04-15 | Symbotic, LLC | Suspension system for autonomous transports |
US9499338B2 (en) | 2010-12-15 | 2016-11-22 | Symbotic, LLC | Automated bot transfer arm drive system |
US8965619B2 (en) | 2010-12-15 | 2015-02-24 | Symbotic, LLC | Bot having high speed stability |
US9561905B2 (en) | 2010-12-15 | 2017-02-07 | Symbotic, LLC | Autonomous transport vehicle |
US9187244B2 (en) | 2010-12-15 | 2015-11-17 | Symbotic, LLC | BOT payload alignment and sensing |
US11078017B2 (en) | 2010-12-15 | 2021-08-03 | Symbotic Llc | Automated bot with transfer arm |
US8641353B2 (en) * | 2011-08-25 | 2014-02-04 | King Saud University | System for storing and retrieving shoes |
US8721250B2 (en) * | 2012-07-11 | 2014-05-13 | Sergey N. Razumov | Robotic device movable in three mutually perpendicular directions |
US8690510B1 (en) * | 2012-09-18 | 2014-04-08 | Sergey N. Razumov | Self-lifting robotic device movable in desired horizontal directions |
US8734079B1 (en) * | 2012-11-13 | 2014-05-27 | Sergey N. Razumov | Self-lifting robotic device with load handling mechanism |
US8721251B1 (en) * | 2013-04-01 | 2014-05-13 | Sergey N. Razumov | Self-lifting robotic device with movable carriages |
JPWO2015025399A1 (en) * | 2013-08-22 | 2017-03-02 | 株式会社安川電機 | Robot hand and robot |
KR102314503B1 (en) | 2013-09-13 | 2021-10-19 | 심보틱 엘엘씨 | Automated storage and retrieval system |
US11203486B2 (en) * | 2015-06-02 | 2021-12-21 | Alert Innovation Inc. | Order fulfillment system |
KR102081440B1 (en) * | 2015-09-08 | 2020-02-25 | 무라다기카이가부시끼가이샤 | Transfer device and control method of transfer device |
EP3418221B1 (en) * | 2016-02-18 | 2024-03-13 | Daifuku Co., Ltd. | Article transport apparatus |
CN207861665U (en) * | 2017-09-28 | 2018-09-14 | 合肥京东方显示技术有限公司 | Lifting gear |
JP7081553B2 (en) * | 2019-03-29 | 2022-06-07 | 株式会社ダイフク | Transfer device |
CN117401430A (en) * | 2023-11-10 | 2024-01-16 | 湖南工程学院 | Energy storage battery assembly feeding part, assembly robot and assembly system |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3547282A (en) * | 1967-04-24 | 1970-12-15 | Corwn Zellerback Corp | Apparatus for transient handling and storing of articles |
US3901547A (en) * | 1973-05-14 | 1975-08-26 | Ii Frank R Skinner | Multiple prehension mechanism |
GB1536931A (en) * | 1975-01-28 | 1978-12-29 | Ntn Toyo Bearing Co Ltd | Pin type transfer apparatus for apertured workpieces |
IT1083139B (en) * | 1977-06-08 | 1985-05-21 | Bertello Ist Grafico | DEVICE FOR MOVING CONTAINERS FOR A MECHANIZED STORAGE COMPLEX |
US4358239A (en) * | 1980-09-26 | 1982-11-09 | Harnischfeger Corporation | Warehouse crane including inclinable tote pan puller |
US4556355A (en) * | 1983-08-17 | 1985-12-03 | Supreme Automation Corporation | Single loop load/unload drive arrangement with latching push member for storage and retrieval system |
SU1175810A1 (en) * | 1984-04-06 | 1985-08-30 | Всесоюзный Проектно-Конструкторский Институт Технологии Электротехнического Производства | Device for orientating hoisting platform of piler crane |
AT383336B (en) * | 1985-04-24 | 1987-06-25 | Voith Werke | CASSETTE EXTENSION FOR SHELF CONVEYORS OF A LONG GOODS SHELVING SYSTEM OD. DGL. |
US4943199A (en) * | 1986-03-12 | 1990-07-24 | Starrfrasmaschinen Ag | Machine tool storage apparatus |
DE3633508A1 (en) * | 1986-10-02 | 1988-04-14 | Mehne Fa Erwin | Shelf servicing equipment for a high-bay warehouse |
SU1481145A1 (en) * | 1986-11-26 | 1989-05-23 | Предприятие П/Я В-2190 | Apparatus for transfer of pallets |
SU1450963A1 (en) * | 1987-02-20 | 1989-01-15 | Украинский Научно-Исследовательский Институт Станков И Инструментов | Accumulating and feeding device |
US4856956A (en) * | 1987-06-18 | 1989-08-15 | Supac Systems, Inc. | Container extraction and transfer mechanism for an automated storage and retrieval system |
US4812102A (en) * | 1987-10-29 | 1989-03-14 | Jervis B. Webb Company | Storage and retrieval machine for tote pans |
DE8807944U1 (en) * | 1988-06-21 | 1988-08-11 | Hommel GmbH, 5000 Köln | Provision device for workpieces |
EP0427739B1 (en) * | 1988-07-06 | 1995-12-06 | ROTHLISBERGER, Michel | Mechanised storage system |
EP0461735B2 (en) * | 1990-06-08 | 1999-05-12 | MANNESMANN Aktiengesellschaft | Rack installation |
US5120101A (en) * | 1990-12-17 | 1992-06-09 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Rolling friction robot fingers |
-
1992
- 1992-06-05 DE DE9207669U patent/DE9207669U1/en not_active Expired - Lifetime
-
1993
- 1993-05-24 US US08/343,514 patent/US5564880A/en not_active Expired - Fee Related
- 1993-05-24 JP JP6501011A patent/JPH07503443A/en active Pending
- 1993-05-24 DE DE59301355T patent/DE59301355D1/en not_active Expired - Fee Related
- 1993-05-24 WO PCT/DE1993/000452 patent/WO1993025458A1/en active IP Right Grant
- 1993-05-24 EP EP93909790A patent/EP0642458B1/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO9325458A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3799892A1 (en) | 2016-10-28 | 2021-04-07 | Dialybrid S.r.l. | Hybrid scaffold suitable for regenerating animal tissues and process for producing the scaffold |
Also Published As
Publication number | Publication date |
---|---|
US5564880A (en) | 1996-10-15 |
DE59301355D1 (en) | 1996-02-15 |
EP0642458B1 (en) | 1996-01-03 |
WO1993025458A1 (en) | 1993-12-23 |
DE9207669U1 (en) | 1993-02-18 |
JPH07503443A (en) | 1995-04-13 |
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Legal Events
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